JP2002260191A - Running support device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a highly reliable warning against the presence of a curved road requiring a caution on running according to actual road circumstances and vehicle running speed. SOLUTION: An accelerator sensor 12 detects a lateral G (acceleration in the lateral direction) applied to a vehicle during the traveling of the vehicle, A control circuit 2 calculates the curvature of a curve with the lateral G of a set level or higher. When the curvature is larger than the set value, it is stored as a curve warning point, and when it is equal to or smaller than the set value, it is stored as a deceleration warning point. In the subsequent running of the vehicle, when a vehicle position detected by a position detector 3 nears the curve warning point, a warning message including a deceleration instruction is outputted from a voice output device 8, and when it nears the deceleration warning point, a warning message for call attention on vehicle speed is outputted.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a method for driving a vehicle on a curved road having a large curvature or a curved road having a relatively small curvature but a relatively high vehicle speed.
The present invention relates to a vehicular driving support device that outputs a warning to alert a driver of the vehicle in advance.

[0002]

2. Description of the Related Art In a car navigation system which is becoming widespread as a driving support system for a vehicle, when a guide route to a destination is set, a curve having a large curvature on the guide route is obtained from road map data. (Curved road) is picked up as a cautionary curve, and an audio warning is issued before the vehicle approaches the “cautionary curve” (for example, “Be careful ahead of this curve.
Such voice messages are output.

[0003]

However, the cautionary curve is picked up based on road map data and is selected depending on the accuracy of the map data. In many cases, the warning did not match the road conditions, and the reliability of the warning was relatively low. Specifically, for example, in the case of a curve that is relatively gentle as a whole but has a partially increased curvature, the vehicle speed may exceed the limit at the part where the curvature is increased. It is desirable to issue the above-mentioned voice warning because of its high possibility. However, such a curve may be recorded as a curve whose curvature changes relatively slowly on the road map data. In this case, an originally necessary voice warning is not issued, and the reliability is sufficiently reduced. I can not expect it. Also, in practice, a curve having a relatively small curvature but a relatively high vehicle speed (ie, the vehicle speed unintentionally increases due to the surrounding environment or the habit or habit of the vehicle driver). Curve), but in the conventional configuration,
No voice warning is issued for such a curve. In other words, in the conventional configuration, when giving the voice warning, only the curvature of the curved road obtained from the road map data is considered, and the actual vehicle speed is not taken into account. And the reliability of the warning was low.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide a high reliability in response to the actual road conditions and the vehicle traveling speed for the presence of a curved road requiring caution in traveling. It is an object of the present invention to provide a vehicular driving support device capable of issuing a warning.

To achieve the above object, the means described in claim 1 can be adopted. According to this means, while the vehicle is running, the lateral acceleration applied to the vehicle is detected by the detection means, and if there is a point where the acceleration is equal to or higher than the set level, the storage control means determines the position of the vehicle. As a warning point. Points stored as warning points as above,
In other words, a point at which the lateral acceleration applied to the vehicle becomes larger than the set level can be regarded as a road with a large curvature or a road with a relatively high vehicle speed,
Therefore, the existence of a road requiring caution in traveling is learned according to the storage operation of the storage control means. If the position of the vehicle detected by the position detecting means during vehicle running approaches the warning point from the state where the warning point is stored, the warning control means issues a warning from just before the warning point. Output operation. In short, as a result of learning as described above when the vehicle is traveling, a highly reliable warning corresponding to the actual road conditions and the vehicle traveling speed can be issued for the presence of a curved road requiring caution in traveling. Become like

According to the second aspect, a position where the lateral acceleration acting on the vehicle is equal to or higher than a set level is compared with the road map data, and it is determined that the position is not a straight road curved road. In this case, that is, when the point where the acceleration becomes equal to or higher than the set level is a right / left turn point such as an intersection, the storage operation of the warning point is canceled. As a result, a warning is not output every time the vehicle approaches an intersection or the like, which is extremely useful in actual use.

According to the third aspect of the present invention, when a position where the lateral acceleration acting on the traveling vehicle is equal to or higher than the set level is a curved road, the vehicle is driven on the basis of the acceleration and the vehicle traveling speed. The curvature of the curved road is calculated, and when the curvature is larger than the set value, the position of the curved road is stored as a curve warning point. Then, when the vehicle travels thereafter, when the vehicle position detected by the position detection means approaches the curve warning point, that is, when the vehicle approaches a curved road having a curvature larger than the set value, the vehicle A warning message including a deceleration instruction is output immediately before the warning point. As a result, the vehicle driver can take measures such as reducing the vehicle speed based on the warning before approaching a curved road having a large curvature, and thus can provide effective driving support.

According to the fourth aspect of the present invention, when the curvature of a curved road on which the lateral acceleration acting on the vehicle is equal to or higher than a set level is calculated, the safe approach speed of the vehicle according to the curvature is calculated. At the same time, the safe approach speed is stored in a state of being associated with the curve warning point. Then, after that, when the own vehicle approaches the curve warning point, the vehicle includes a deceleration instruction for instructing to reduce the speed of the vehicle to a value equal to or lower than the approach safe speed stored corresponding to the curve warning point. A warning message is output. As a result, the vehicle driver can take appropriate measures such as lowering the vehicle speed below the instructed safety speed based on the warning message before approaching a curved road with a large curvature, thereby further improving the effect. It is possible to perform dynamic driving support.

According to the fifth aspect, when the position where the lateral acceleration acting on the running vehicle is equal to or higher than the set level is on a curved road, the vehicle is driven on the basis of the acceleration and the vehicle traveling speed. The curvature of the curved road is calculated, and when the curvature is equal to or less than the set value, the position of the curved road is stored as a deceleration warning point. Then, when the vehicle travels thereafter and the own vehicle position detected by the position detecting means approaches the deceleration warning point, that is, the lateral acceleration acting on the vehicle during the previous travel although the curvature is equal to or less than the set value. If the own vehicle approaches a curved road where the vehicle speed is equal to or higher than the set level, a warning message is output from the position immediately before the deceleration warning point to call attention to the vehicle speed. As a result, on the vehicle driver side,
It is possible to take measures such as paying attention to the vehicle speed based on the warning before approaching a curved road with a relatively small curvature but a relatively high vehicle speed during the previous run. It is possible to perform dynamic driving support.

According to the present invention, when the curvature of a curved road on which the lateral acceleration acting on the vehicle exceeds a set level is calculated, the safe approach speed of the vehicle according to the curvature is calculated. At the same time, the safe approach speed is stored in a state of being associated with the deceleration warning point. Then, after that, when the vehicle approaches the deceleration warning point, the warning message is output only when the vehicle speed exceeds the approach safe speed stored in correspondence with the deceleration warning point. Is done. As a result, there is no possibility that the warning message is output unnecessarily, which is convenient in actual use.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a car navigation device will be described below with reference to the drawings. In FIG. 1 schematically showing the overall electric configuration, a car navigation device 1 includes a control circuit 2 (corresponding to a storage control unit and an alarm control unit), and a position detector 3 (each corresponding to the control circuit 2). Map data input device 4, external memory 5, display device 6, operation switch group 7, voice output device 8, external information input / output device 9, remote control sensor 10, communication control device 11, acceleration sensor 12). (Corresponding to detection means).

The control circuit 2 includes a car navigation device 1
And has a function of controlling the overall operation of the microcomputer, and is mainly configured by a microcomputer. That is, the control circuit 2 has a configuration including a CPU, a ROM, a RAM, an I / O interface, a bus connecting these, and the like (neither is shown). Of these, the ROM stores a car navigation program and the like.
M temporarily stores temporary data when the program is executed, road map data obtained from the map data input device 4, and the like.

The position detector 3 includes a geomagnetic sensor 13 for detecting an absolute azimuth, a gyroscope 14 for detecting a yaw angular velocity (yaw rate), a distance sensor 15 for detecting a traveling distance of the vehicle, and an artificial GPS sensor. It is composed of a GPS receiver 16 that receives signals from satellites, and is a part that calculates current position information of the vehicle. The position detector 3 performs high-accuracy position detection while interpolating the detection errors because each component has a detection error having a different property. However, the position detector 3 detects the current position with the required detection accuracy. It is not necessary to provide all components if they can be calculated. Further, the position detector 3 may be configured by combining a rotation sensor of the steering wheel, a wheel sensor for detecting the rotation of each tire, and the like. The distance sensor 1
Reference numeral 5 denotes, for example, a configuration in which a vehicle speed signal is taken from a vehicle ECU (not shown) to detect the traveling distance of the vehicle.

The map data input device 4 is, for example, a CD-RO
It is for reading data from an information recording medium (not shown) such as an M, a DVD-ROM, a HDD (hard disk drive), and a large-capacity memory card. In this case, in addition to various types of map drawing data and map matching data, a facility name such as 5
A facility name database arranged in the order of 0s, a facility covering specific information (facility name, genre name indicating classification of job type, facility position data (longitude / latitude data), etc.) of each facility in the facility name database Various databases are stored, such as a database, a telephone number database indicating correspondence between telephone numbers and facilities.

The external memory 5 is constituted by a flash memory card or the like, and stores, for example, program software for supporting an information recording medium of another standard, or stores specific data (history of a running locus or a digital camera). It is provided for saving or recalling any captured image data or the like.

The display device 6 includes, for example, a color liquid crystal display for displaying a map screen, and is installed near the driver's seat of the vehicle. Operation switch group 7
Is composed of a touch switch formed on a color liquid crystal display of the display device 6 and a mechanical switch disposed around the display device 6, and is used to give operation inputs such as various data and setting items to the control circuit 2. It is provided in. The remote control sensor 10 is also provided as an operation input unit, and receives an operation input from the remote control 17 and gives the operation input to the control circuit 2.

The voice output device 8 includes a voice synthesizing circuit, an amplifier, a speaker and the like, and can generate an arbitrary voice output in response to a command from the control circuit 2. The external information input / output device 9 is a VICS (Vehicle Info
and an information signal from an optical / radio wave beacon received by the VICS sensor or an information signal from an FM multiplex broadcast received by the FM tuner to the control circuit 2. It also has a function of transmitting vehicle information to the outside if necessary.

The communication control device 11 performs data communication between the control circuit 2 and a mobile communication terminal 18 (an example of a mobile phone is shown in the figure, but an automobile telephone or a dedicated wireless communication terminal may be used). The mobile communication terminal 18 is connected to the mobile communication terminal 18 through wired communication means or wireless communication means (a wireless LAN, a Bluetooth interface, or the like).

The acceleration sensor 12 is provided for detecting a lateral acceleration (hereinafter referred to as "lateral G") applied to the vehicle body when the running vehicle approaches a curve (curved road). Thus, the centrifugal force applied to the vehicle body during the curve running can be calculated from the product of the detected lateral G and the vehicle weight. Therefore, if the vehicle weight is known, the operation of detecting the lateral G is synonymous with the operation of detecting the centrifugal force applied to the vehicle body during curve running. In addition, the curvature of the running curve can be obtained based on the lateral G and the running speed of the vehicle as described later.

Here, the control circuit 2 has a function of executing a map matching process for locating the current position on a map, and when point data such as a destination or a waypoint is input through the operation switch group 7 or the remote controller 17. To
A route guidance function (so-called reroute search) for performing a route search operation from the current position to the destination based on the point data using, for example, the Dijkstra method and displaying a guide route corresponding to the route search result on a map screen. And other well-known navigation functions.

Further, the control circuit 2 controls the communication control device 11 and the mobile communication terminal 18 for a database installed in an information center or the like for providing various information distribution services to the user of the car navigation device 1. And a function of storing data downloaded from the database in, for example, the external memory 5 or the internal RAM.
Among the data downloaded in this manner, those that are relevant to the gist of the present invention include a caution point indicating a position on a map of a curve where a vehicle accident frequently occurs (for example, a curve called “magic curve”). There is data, and the control circuit 2 can download such cautionary point data as needed and store it in the external memory 5 or the internal RAM. Note that the download timing of the caution point data and the range of the download target can be variously considered. For example, at the time of a route search operation or a reroute search operation, the caution point data directly related to the guidance route (necessary) (Including point-of-interest point data around the guidance route in response), and the point-of-interest point data located within a predetermined distance (for example, several tens of kilometers) from the current position of the vehicle is converted to the position of the vehicle at the predetermined distance. The configuration can be appropriately set as needed, such as a configuration for downloading at each changed timing, a configuration for downloading all the point-of-attention data at an appropriate periodic timing or an operation on the user side, and the like.

The flowchart of FIG. 2 shows a routine related to the gist of the present invention out of the contents of control by the control circuit 2, which will be described below along with related operations. Note that FIG. 2 is simplified as far as the gist of the present invention can be grasped, and actually has more complicated control contents or control contents different from those illustrated. Further, in this embodiment, the routine of FIG. 2 has been described as being executed in the background of the main program, but may be incorporated during foreground processing.

That is, the routine of FIG. 2 is executed while the vehicle is running, and holds the standby state until the acceleration sensor 12 detects the lateral G equal to or higher than the set constant level (steps A1 and A2). ). When the detected lateral G is equal to or higher than the set level, the vehicle that has detected through the position detector 3 whether the detected point is a straight road curve or a junction such as an intersection. It is determined by collating with the current position information and the road map data acquired through the map data input device 4 (step A3). Incidentally, even at a branch point, an intersection such as a Y-shaped three-segment road that can pass at high speed while receiving the lateral G may be classified into a single road curve.

When it is determined that the point at which the lateral G equal to or higher than the set level is detected is a branch point, the process returns to step A1 as it is. The curvature of the curve is calculated on the basis of the vehicle running speed at the point obtained based on the detected value and the detected lateral G (step A4). That is, assuming that the curvature radius of the curve is R, the lateral G applied to the vehicle body is α, and the vehicle traveling speed is V, and the vehicle is performing a constant velocity circular motion, R = V ² / α holds. This gives the curvature of the curve (= 1 / R)
Can be obtained. However, the above equation is based on the assumption that a vehicle traveling on a curve is performing a constant velocity circular motion. Since the state is considered to be close to the movement, a large error does not occur in the curvature of the finally obtained curve.

Next, the calculated curvature of the curve (= 1 /
R) is greater than a set value (step A).
5) If it is larger, calculate and store the approach safety speed Vs of the vehicle according to the curvature, and store the position of the curve as a "curve warning point" associated with the above-mentioned approach safety speed Vs ( Step A6). The curve corresponding to the "curve warning point" is a curve that is determined to require attention due to a large curvature when the vehicle is actually running, and a curve having a large curvature is picked up from the road map data. Thus, the problem that it does not match the actual road situation does not exist from the beginning.

Further, the state where the calculated curvature of the curve is equal to or smaller than the set value (a state where "NO" is determined in step A5), that is, the acceleration sensor 12 detects the lateral G equal to or larger than the set level during the curve running. At this time, the state where the curvature of the curve is equal to or less than the set value corresponds to a state in which the traveling speed of the vehicle is relatively high. In such a state, the approach safety of the vehicle according to the curvature of the curve is determined. The speed Vs is calculated and stored, and also stored as a "deceleration warning point" associated with the position of the curve and the above-mentioned safe approach speed Vs (step A7). It should be noted that the curve corresponding to the "deceleration warning point" is considered to be a curve that tends to cause the vehicle driver to excessively increase the speed (vehicle speed) even if the curvature is gentle.

In this case, the above-mentioned safe approach speed Vs is:
Although it can be uniquely determined according to the curvature of the curve, the configuration may be made in consideration of the centrifugal force acting on the vehicle and the vehicle characteristics (suspension performance, center of gravity, etc.) when traveling on the curve. In particular, when such considerations are taken, the centrifugal force F acting on the vehicle when traveling on a curve is represented by F = m · V ² / R (where m is the vehicle weight) when the vehicle weight is m. Since the vehicle weight m is proportionally increased or decreased according to the magnitude of the vehicle weight m, data indicating the vehicle weight m is inputted in advance and stored in the control circuit 2 side. Such a storage operation of the vehicle weight m can be performed by the maker or the dealer when the car navigation device 1 is mounted on the vehicle (for example, storing the vehicle weight on the type authentication). When the car navigation device 1 is used for the first time, an appropriate means may be adopted, such as a configuration in which the user corrects the vehicle weight on the user side (for example, a configuration in which an operation of adding a weight according to the occupant or luggage) is performed. .

After the execution of steps A6 and A7 as described above, it is determined whether the vehicle has approached the "deceleration warning point" or "curve warning point" (step A8). Returning to step A1, when approaching, the type of the warning point is determined (step A9). And "curve warning point"
If it is determined that the vehicle is approaching the vehicle, a warning message (for example, “Pipeen (signal sound). Please reduce the speed to less than XX km.)) Through the audio output device 8 and execute step A10, and then return to step A1. In addition, "xxk" in the above warning message
“m” means XX km / h, and the above approach safe speed V
It becomes a numerical value corresponding to s. Further, it is desirable that the warning message be repeatedly issued until the speed of the vehicle falls below the instructed speed, for example. Further, a configuration may be adopted in which a warning message is simultaneously displayed on the display device 6.

On the other hand, when it is determined that the vehicle is approaching the "deceleration warning point", it is determined whether or not the vehicle speed exceeds the approach safe speed Vs corresponding to the point (step A11). If the vehicle speed does not exceed the safe approach speed Vs, the process directly returns to step A1. This is a point requiring caution. Reduce the speed. Drive with caution.)) Is output through the audio output device 8, and then the process returns to step A1. It is desirable that the warning message be repeatedly issued until the speed of the vehicle decreases to the entry safety speed Vs or less, for example. In this case, a warning message may be displayed on the display device 6 at the same time.

Although not shown in FIG. 2, as described above, the control circuit 2 reads the point-of-attention data (a curve in which vehicle accidents frequently occur) from a database installed in an information center or the like. Is downloaded, and even when the vehicle approaches the curve indicated by the caution point data, a warning message for the curve is output as voice. Thereby, the warning is performed in a period in which the “curve warning point” and the “deceleration warning point” are not stored (learned).

In short, according to the configuration of the present embodiment, the following operations and effects can be obtained. That is, while the vehicle is traveling, the lateral G (lateral acceleration) applied to the vehicle is detected by the acceleration sensor 12, and if there is a point where the lateral G is equal to or higher than the set level, the position of the point is determined. It is determined based on the road map data whether or not the road is a single road curve (curved road). When the point is a straight road curve, the curvature of the curve (= 1 / R, where R is the radius of curvature of the curve) is calculated based on the lateral G and the vehicle traveling speed at that time. When the curvature is larger than the set value, the safe approach speed Vs of the vehicle corresponding to the curvature is calculated and stored, and the position of the curve is determined by the safe access speed Vs.
This is stored as a “curve warning point” associated with s. Further, when the calculated curvature is equal to or less than the set value, the approach safe speed Vs of the vehicle corresponding to the curvature is calculated and stored, and the position of the curve is determined by the approach safe speed Vs.
Is stored as a "deceleration warning point".

When the vehicle position detected by the position detector 3 approaches the "curve warning point", that is, when the vehicle approaches a curve whose curvature is larger than a set value during the subsequent traveling of the vehicle. , A warning message including a deceleration instruction (for example, a sound such as “Pipine (signal sound), the curve ahead, please reduce the speed to に km or less”) is output. As a result, the vehicle driver can take a countermeasure such as reducing the vehicle speed based on the warning before approaching a curve having a large curvature, and thus can provide effective driving support. Particularly, in this case, a warning message including a deceleration instruction for instructing the vehicle speed to fall below the approach safe speed Vs corresponding to the "curve warning point" is output. Precise measures such as lowering the vehicle speed below the instructed safety speed based on the warning message before approaching a large curve can be taken, and more effective driving support can be performed.

Further, when the vehicle position detected by the position detector 3 approaches the "deceleration warning point" during the subsequent traveling of the vehicle, that is, although the curvature is equal to or less than the set value, the vehicle is not driven at the previous traveling. If your vehicle approaches a curve where the acting side G is higher than the set level, a warning message that alerts you about the vehicle speed (for example, “Pipine (Signal Sound), a point requiring caution,・ Please drive carefully ”. As a result, the vehicle driver's side, curve was higher vehicle speed is relatively in the previous running of things curvature is relatively small (e.g., due to habit and behavior of the surrounding environment or the vehicle driver the vehicle speed is unconscious Before approaching the curve that rises up)
It is possible to take measures such as paying attention to the vehicle speed on the basis of the warning, so that effective driving support can be performed. In particular, in this case, when the own vehicle approaches the “deceleration warning point”, the vehicle speed exceeds the safe approach speed Vs stored corresponding to the “deceleration warning point”. Since the above warning message is output only in the state, there is no possibility that the warning message is output unnecessarily, which is convenient in actual use.

On the other hand, when it is determined that a point where the lateral G detected by the acceleration sensor 12 is equal to or higher than the set level is not a straight road curve, that is, a point where the horizontal G is equal to or higher than the set level is an intersection. If it is a right / left turn point, the storage operation of the “curve warning point” and the “deceleration warning point” described above is canceled. As a result, unnecessary warnings are not output each time the vehicle approaches an intersection or the like, which is extremely useful in actual use.

As described above, according to the configuration of this embodiment,
During traveling of the vehicle, learning to store the position of the curve where the lateral G acting on the vehicle is equal to or higher than the set level, and calculation of the safe approach speed of the curve are performed.
A warning output operation is performed for a curve requiring attention on the traveling based on the learning result and the calculation result. Therefore, the presence of the curve requiring attention on the traveling is determined according to the actual road conditions and the vehicle traveling speed. Reliable warnings can be issued.

Note that the present invention is not limited to the above-described embodiment, and the following modifications or extensions are possible. Although the acceleration sensor 12 for detecting the lateral G (lateral acceleration) applied to the vehicle body is provided as the detection means, the detection means may be configured using the gyroscope 14 of the position detector 3. It is. That is,
If it is considered that the vehicle traveling on a curve is performing a constant velocity circular motion, the lateral G (centripetal acceleration) applied to the vehicle body is detected by the product of the yaw angular velocity (yaw rate) detected by the gyroscope 14 and the vehicle traveling speed. The centrifugal force acting on the vehicle body can be determined from the product of the detected lateral G and the vehicle weight. Further, the radius of curvature R and the curvature 1 / R of the curve during traveling based on the yaw angular velocity and the vehicle traveling speed.
(Curvature radius R = vehicle running speed / yaw angular speed).

By comparing the position of a point where the lateral G acting on the vehicle is equal to or higher than the set level with road map data, it is determined whether the point is a one-way curve or not. The storage operation of the "curve warning point" and the "deceleration warning point" is cancelled when it is determined that this is not the case, but such a configuration may be adopted as necessary. Further, the operation of calculating the curvature (= 1 / R) of the curve and the safe approach speed Vs may be performed as needed.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing an electrical configuration of an embodiment of the present invention.

FIG. 2 is a flowchart showing control contents of a control circuit.

[Explanation of symbols]

1 is a car navigation device, 2 is a control circuit (storage control means, alarm control means), 3 is a position detector (position detection means), 5 is an external memory, 6 is a display device, 8 is a sound processing output device, 12 is 3 shows an acceleration sensor (detection means).

Continuation of the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) B60R 21/00 628 B60R 21/00 628C G01C 21/00 G01C 21/00 AH G08G 1/0969 G08G 1/0969 F term (Reference) 2F029 AA02 AB01 AB07 AB13 AC02 AC04 AC09 AC13 AC16 AC18 AC20 5H180 AA01 BB03 BB05 BB12 BB13 CC01 CC04 EE18 FF04 FF05 FF13 FF22 FF25 FF33 LL01 LL02 LL07 LL08 LL15

Claims (6)

[Claims] 1. A vehicle driving support device having a function of appropriately calling a vehicle driver according to the condition of a road on which the vehicle is traveling, detecting a lateral acceleration applied to the vehicle while the vehicle is traveling. Detecting means for detecting the position of the own vehicle, detecting a position at which the acceleration detected by the detecting means is equal to or higher than a set level as a warning point, detecting the position of the vehicle, And a warning control means for performing a warning output operation before the warning point when the position of the vehicle approaches the warning point. 2. A storage unit for storing road map data, wherein the storage control unit compares the position where the acceleration detected by the detection unit is equal to or higher than a set level with the road map data to determine the position. The driving support device for a vehicle according to claim 1, wherein it is determined whether or not the road is a straight road, and if it is determined that the road is not a curved road, the operation of storing the warning point is canceled. 3. The vehicle driving support device according to claim 2, wherein the storage control unit detects the acceleration detected when the position at which the acceleration detected by the detection unit is equal to or higher than a set level is a curved road. And calculating the curvature of the curved road based on the vehicle traveling speed, and when the curvature is larger than a set value, stores the position of the curved road as a curve warning point. And outputting a warning message including a deceleration instruction immediately before the curve warning point when the vehicle position detected by the vehicle approaches the curve warning point. 4. The driving support system for a vehicle according to claim 3, wherein when the curvature of the curved road is calculated, the storage control means calculates a safe approach speed of the vehicle in accordance with the curvature, and calculates the approach speed. The safety speed is stored in a state in which the safety speed is associated with the curve warning point, and the warning control means outputs the speed of the vehicle to the curve warning in the warning message output when the own vehicle position approaches the curve warning point. A driving support device for a vehicle, comprising: a deceleration instruction for instructing a reduction to a speed equal to or lower than a safe approach speed stored corresponding to a point. 5. The driving support device for a vehicle according to claim 2, wherein the storage control means detects the acceleration detected when the position at which the acceleration detected by the detection means is equal to or higher than a set level is a curved road. And calculating the curvature of the curved road based on the vehicle traveling speed, and when the curvature is equal to or less than a set value, stores the position of the curved road as a deceleration warning point. When the vehicle position detected by the vehicle approaches the deceleration warning point, a warning message of a content that calls attention to the vehicle speed is output immediately before the deceleration warning point. 6. The driving support system for a vehicle according to claim 5, wherein when the curvature of the curved road is calculated, the storage control means calculates a safe approach speed of the vehicle according to the curvature, and calculates the approach speed. The safety speed is stored in a state associated with the deceleration warning point, and the alarm control unit stores the vehicle speed in correspondence with the deceleration warning point when the own vehicle position approaches the deceleration warning point. A driving assistance device for a vehicle, wherein the warning message is output only when the vehicle speed exceeds a certain approach safe speed.